Aerial vehicle powering off method and device, and aerial vehicle

ABSTRACT

A method for automatically powering off an aerial vehicle includes detecting an operating state of the aerial vehicle based on altitude information of the aerial vehicle. The attitude information includes at least one of absolute altitude information or relative altitude information. The relative altitude information includes a landing distance to a landing plane. The method further includes determining whether the operating state of the aerial vehicle indicates that the aerial vehicle has landed and, in response to a determination result that the aerial vehicle has landed, shutting down a propulsion output of the aerial vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of application Ser. No. 15/415,303,filed on Jan. 25, 2017, which is a continuation application ofInternational Application No. PCT/CN2014/083482, filed on Jul. 31, 2014,the entire contents of both of which are incorporated herein byreference.

TECHNICAL FIELD

The present disclosure relates to the technical field of aerialvehicles, and in particularly, to a method and device for automaticallypowering off an aerial vehicle and an aerial vehicle.

BACKGROUND

Current aerial vehicles can comprise fixed-wing aerial vehicles androtor-wing aerial vehicles. The rotor-wing vehicles can take off andland vertically. For a rotor-wing aerial vehicle, a rotation of apropeller can be driven by an electric motor, thereby generating variouslevel of pulling force to effect a taking off, flight or landing of theaerial vehicle.

In taking off and landing a conventional aerial vehicle, an operation ofenabling a propulsion output of the electric motor (i.e., a startingoperation) and an operation of disabling a propulsion output of theelectric motor (i.e., a stopping operation) are performed. Complicatedoperations are specified to power off the aerial vehicle, so as toprevent any erroneous operations. If the user decides a landing, thecomplicated operations are performed to power off the aerial vehicle.For instance, the aerial vehicle can be powered off by pulling twojoysticks of the remote controller to a lowest level for more than 5seconds.

For conventional aerial vehicles, the user has to determine a stage oflanding and perform a power off operation. The operations aretime-consuming and complicated.

SUMMARY

The present disclosure provides a method and device for automaticallypowering off an aerial vehicle. The present disclosure also provides anaerial vehicle. With the present disclosure, a powering off of an aerialvehicle can be implemented in an automatic and intelligent manner.

The present disclosure provides a method for automatically powering offan aerial vehicle. The method comprise: detecting an operating state ofthe aerial vehicle; and shutting down a propulsion output of the aerialvehicle if the operating state of the aerial vehicle is a landed state,to effect automatic powering off of the aerial vehicle after landing.

In some embodiments, detecting the operating state of the aerial vehiclecan comprise: obtaining flight information of the aerial vehicle, anddetermining whether the flight information satisfies a preset landedcriterion, wherein the flight information comprises any one or morepieces of relative altitude information, absolute altitude informationand movement information; and determining the aerial vehicle is in thelanded state, if the flight information satisfies a preset landedcriterion.

In some embodiments, detecting the operating state of the aerial vehiclecan comprise: obtaining relative altitude information of the aerialvehicle, wherein the relative altitude information comprises a landingdistance to a landing plane; and determining the aerial vehicle is inthe landed state if the obtained relative altitude information satisfiesa preset landed criterion. In some instances, the relative altitudeinformation satisfying a preset landed criterion can comprise: a numberof landing distances, which are obtained within a time period thresholdand smaller than a distance threshold, reaches a threshold. The timeperiod threshold and the distance threshold can be specified in thepreset landed criterion.

In some embodiments, detecting the operating state of the aerial vehiclecan comprise: obtaining absolute altitude information of the aerialvehicle; calculating a variance of absolute altitudes from the obtainedabsolute altitude information; and determining that the preset landedcriterion is satisfied and the aerial vehicle is in the landed state, ifthe variance is smaller than a variance threshold and the aerial vehicleis descending, wherein the variance threshold is specified in the presetlanded criterion.

In some embodiments, detecting the operating state of the aerial vehiclecan comprise: detecting an operating state of a distance measuringmodule which is provided in the aerial vehicle; instructing the distancemeasuring module to detect a landing distance of the aerial vehicle to alanding plane if the operating state of the distance measuring module isa normal state, and determining that a preset landed criterion issatisfied and the aerial vehicle is in the landed state if a number oflanding distances, which are detected within a preset time periodthreshold and are smaller than a preset distance threshold, reaches apreset threshold; and obtaining absolute altitude information of theaerial vehicle, and calculating a variance of absolute altitudes fromthe obtained absolute altitude information if the operating state of thedistance measuring module is an abnormal state, and determining that apreset landed criterion is satisfied and the aerial vehicle is in thelanded state if the variance is smaller than a preset threshold and theaerial vehicle is descending.

In some embodiments, detecting the operating state of the aerial vehiclecan comprise: instructing an inertial measurement unit (IMU) to measuremovement information of the aerial vehicle, and obtaining the measuredmovement information; determining whether the aerial vehicle is landedbased on the obtained movement information of the aerial vehicle; anddetermining that the aerial vehicle is in the landed state if the aerialvehicle is landed.

In some embodiments, shutting down a propulsion output of the aerialvehicle if the operating state of the aerial vehicle is a landed statecan comprise: determining whether the propulsion output of the aerialvehicle is enabled and whether an automatic take-off operation indicatedby an automatic take-off instruction is performed, if the aerial vehicleis in the landed state; and shutting down the propulsion output of theaerial vehicle if the propulsion output is enabled and the automatictake-off operation is not performed.

In some embodiments, an operating state of the aerial vehicle can bedetected at least twice, and shutting down a propulsion output of theaerial vehicle if the operating state of the aerial vehicle is a landedstate can comprise: detecting a position of a throttle joystick of aremote controller of the aerial vehicle if a number of detecting thatthe aerial vehicle being landed is greater than a preset threshold; andshutting down the propulsion output of the aerial vehicle if thethrottle joystick of the remote controller is at a lowest position wherethe aerial vehicle is requested to land.

In some embodiments, shutting down a propulsion output of the aerialvehicle can comprise sending a power off instruction to a propulsioncomponent of the aerial vehicle, such that the propulsion componentshuts down the propulsion output in response to the power offinstruction.

In some embodiments, shutting down a propulsion output of the aerialvehicle can comprise: sending a turning off instruction to a powersupply of the aerial vehicle, such that the power supply shut down apowering to a propulsion component of the aerial vehicle to effect apower off operation of the propulsion output in response to the turningoff instruction.

The present disclosure further provides a device for automaticallyshutting down an aerial vehicle. The device can comprise: a detectingmodule configured for detecting an operating state of the aerialvehicle; and a power off module for shutting down a propulsion output ofthe aerial vehicle if the operating state of the aerial vehicle is alanded state, to effect automatic powering off of the aerial vehicleafter landing.

In some embodiments, the detecting module can obtain flight informationof the aerial vehicle, and determine whether the flight informationsatisfies a preset landed criterion, and determine the aerial vehicle isin the landed state if the flight information satisfies a preset landedcriterion. The flight information can comprise any one or more pieces ofrelative altitude information, absolute altitude information andmovement information.

In some embodiments, the detecting module can comprise: a firstobtaining unit for obtaining relative altitude information of the aerialvehicle, wherein the relative altitude information comprises a landingdistance to a landing plane; and a first determining unit fordetermining the aerial vehicle is in the landed state if the obtainedrelative altitude information satisfies a preset landed criterion. Insome instances, first determining unit can determine that the relativealtitude information satisfies a preset landed criterion if a number oflanding distances, which are obtained within a time period threshold andsmaller than a distance threshold, reaches a threshold. The time periodthreshold and the distance threshold can be specified in the presetlanded criterion.

In some embodiments, the detecting module can comprise: a secondobtaining unit configured for obtaining absolute altitude information ofthe aerial vehicle; and a second determining unit for calculating avariance of absolute altitudes from the obtained absolute altitudeinformation, and determining that the preset landed criterion issatisfied and the aerial vehicle is in the landed state if the varianceis smaller than a variance threshold and the aerial vehicle isdescending. The variance threshold can be specified in the preset landedcriterion.

In some embodiments, the detecting module can comprise: a detecting unitfor detecting an operating state of a distance measuring module which isprovided in the aerial vehicle; a third determining unit for instructingthe distance measuring module to detect a landing distance of the aerialvehicle to a landing plane if the operating state of the distancemeasuring module is a normal state, and determining that a preset landedcriterion is satisfied and the aerial vehicle is in the landed state ifa number of landing distances, which are detected within a preset timeperiod threshold and are smaller than a preset distance threshold,reaches a preset threshold; and a fourth determining unit for obtainingabsolute altitude information of the aerial vehicle, and calculating avariance of absolute altitudes from the obtained absolute altitudeinformation if the operating state of the distance measuring module isan abnormal state, and determining that a preset landed criterion issatisfied and the aerial vehicle is in the landed state if the varianceis smaller than a preset threshold and the aerial vehicle is descending.

In some embodiments, the detecting module can comprise: a thirdobtaining unit for instructing an inertial measurement unit (IMU) tomeasure movement information of the aerial vehicle, and obtaining themeasured movement information; and a fifth determining unit fordetermining whether the aerial vehicle is landed based on the obtainedmovement information of the aerial vehicle, and determining that theaerial vehicle is in the landed state if the aerial vehicle is landed.

In some embodiments, the power off module can comprise: a determiningunit for determining whether the propulsion output of the aerial vehicleis enabled and whether an automatic take-off operation indicated by anautomatic take-off instruction is performed, if the aerial vehicle is inthe landed state; and a first power off unit for shutting down thepropulsion output of the aerial vehicle if the propulsion output isenabled and the automatic take-off operation is not performed.

In some embodiments, optionally, the power off module can comprise: adetecting unit for detecting a position of a throttle joystick of aremote controller of the aerial vehicle if a number of detecting thatthe aerial vehicle being landed is greater than a preset threshold; anda second power off unit for shutting down the propulsion output of theaerial vehicle if the throttle joystick of the remote controller is at alowest position where the aerial vehicle is requested to land.

In some embodiments, in shutting down a propulsion output of the aerialvehicle, the power off module can send a power off instruction to apropulsion component of the aerial vehicle, such that the propulsioncomponent shuts down the propulsion output in response to the power offinstruction.

In some embodiments, in shutting down a propulsion output of the aerialvehicle, the power off module can send a turning off instruction to apower supply of the aerial vehicle, such that the power supply shut downa powering to a propulsion component of the aerial vehicle to effect apower off operation of the propulsion output in response to the turningoff instruction.

The present disclosure further provides an aerial vehicle. The aerialvehicle can comprise a propulsion component and a flight controller. Theflight controller can detect an operating state of the aerial vehicle,and shut down a propulsion output of the aerial vehicle if the operatingstate of the aerial vehicle is a landed state, to effect automaticpowering off of the aerial vehicle after landing.

In some embodiments, the aerial vehicle can further comprise a flightsensor for obtaining flight information of the aerial vehicle, whereinthe flight information comprises any one or more pieces of relativealtitude information, absolute altitude information and movementinformation. The flight controller can determine whether the flightinformation satisfies a preset landed criterion, and determine that theaerial vehicle is in the landed state if the flight informationsatisfies the preset landed criterion.

In some embodiments, the flight sensor can comprises a distancemeasuring sensor for obtaining relative altitude information of theaerial vehicle. The relative altitude information can comprise a landingdistance to a landing plane, and the flight controller can determine theaerial vehicle is in the landed state if the obtained relative altitudeinformation satisfies a preset landed criterion. The flight controllercan determine that the relative altitude information satisfies a presetlanded criterion if a number of landing distances, which are obtainedwithin a time period threshold and smaller than a distance threshold,reaches a threshold. The time period threshold and the distancethreshold can be specified in the preset landed criterion.

In some embodiments, the flight sensor can comprise an altitude sensorfor obtaining absolute altitude information of the aerial vehicle. Theflight controller can calculate a variance of absolute altitudes fromthe obtained absolute altitude information, and determine that thepreset landed criterion is satisfied and the aerial vehicle is in thelanded state if the variance is smaller than a variance threshold andthe aerial vehicle is descending. The variance threshold can bespecified in the preset landed criterion.

In some embodiments, optionally, the flight sensor can comprise adistance measuring sensor and an altitude sensor. The distance measuringsensor can detect and record a landing distance of the aerial vehicle toa landing plane at a time interval, and the altitude can obtain theabsolute altitude information of the aerial vehicle. The flightcontroller can (1) detect an operating state of a distance measuringmodule which is provided in the aerial vehicle, (2) instruct thedistance measuring module to detect a landing distance of the aerialvehicle to a landing plane if the operating state of the distancemeasuring module is a normal state, and determine that a preset landedcriterion is satisfied and the aerial vehicle is in the landed state ifa number of landing distances, which are detected within a preset timeperiod threshold and are smaller than a preset distance threshold,reaches a preset threshold, and (3) obtain absolute altitude informationof the aerial vehicle, and calculate a variance of absolute altitudesfrom the obtained absolute altitude information if the operating stateof the distance measuring module is an abnormal state, and determinethat a preset landed criterion is satisfied and the aerial vehicle is inthe landed state if the variance is smaller than a preset threshold andthe aerial vehicle is descending.

In some embodiments, the aerial vehicle can further comprise an inertialmeasurement sensor for measuring movement information of the aerialvehicle. The flight controller can instruct the inertial measurementunit to measure movement information of the aerial vehicle, determinewhether the aerial vehicle is landed based on the obtained movementinformation of the aerial vehicle, and determine that the aerial vehicleis in the landed state if the aerial vehicle is landed.

In some embodiments, the flight controller can determine whether thepropulsion output of the aerial vehicle is enabled and whether anautomatic take-off operation indicated by an automatic take-offinstruction is performed if the aerial vehicle is in the landed state,and shut down the propulsion output of the aerial vehicle if thepropulsion output is enabled and the automatic take-off operation is notperformed.

In some embodiments, the flight controller can detect a position of athrottle joystick of a remote controller of the aerial vehicle if anumber of detecting that the aerial vehicle being landed is greater thana preset threshold, and shut down the propulsion output of the aerialvehicle if the throttle joystick of the remote controller is at a lowestposition where the aerial vehicle is requested to land.

In some embodiments, the flight controller can send a power offinstruction to a propulsion component of the aerial vehicle, and thepropulsion component can shut down the propulsion output in response tothe power off instruction.

In some embodiments, the aerial vehicle can further comprise a powersupply. The flight controller can send a turning off instruction to thepower supply, and the power supply can shut down a powering to apropulsion component of the aerial vehicle.

With the present disclosure, a landing of the aerial vehicle can beaccurately detected. A propulsion output of the aerial vehicle can beautomatically shut down if a landing of the aerial vehicle is detected.An energy of the aerial vehicle can be saved, and a user requirement onan automatic and intelligent power off of a propulsion of aerial vehiclecan be satisfied.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flow chart of a method for automatically powering off anaerial vehicle according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another method for automatically powering offan aerial vehicle according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of yet another method for automatically poweringoff an aerial vehicle according to an embodiment of the presentdisclosure;

FIG. 4 is a flow chart of still yet another method for automaticallypowering off an aerial vehicle according to an embodiment of the presentdisclosure;

FIG. 5 is a flow chart of a method for determining an operating state ofan aerial vehicle based on IMU according to an embodiment of the presentdisclosure;

FIG. 6 is a view showing a structure of a device for automaticallypowering off an aerial vehicle according to an embodiment of the presentdisclosure;

FIG. 7 is a view showing a structure of a detecting module in FIG. 6;

FIG. 8 is a view showing a structure of a power off module in FIG. 6;and

FIG. 9 is a view showing a structure of an aerial vehicle according toan embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that embodiments asdescribed in the disclosure are simple a part rather than all of theembodiments of the present disclosure. Other embodiments, which areconceived by those having ordinary skills in the art on the basis of thedisclosed embodiments without inventive efforts, should fall within theprotection scope of the present disclosure.

With the present disclosure, a determination can be made on whether anaerial vehicle has landed, and a propulsion output of the aerial vehiclecan be disabled if it is determined that the aerial vehicle has landed.In some embodiments, the aerial vehicle can be shut shown by stopping arotation of an electric motor of the aerial vehicle or terminatingpowering the electric motor of the aerial vehicle. In some embodiments,a determination can be made on whether an aerial vehicle has landedbased on data of an altitude sensor (e.g., a barometer), a distancemeasuring sensor (e.g., an ultrasonic wave distance measuring sensor), avisual distance measuring sensor, and others flight sensors which aredisposed onboard the aerial vehicle. A landing state of the aerialvehicle can be determined accurately, preventing any erroneousoperations and ensuring a safety of the aerial vehicle.

FIG. 1 is a flow chart of a method for automatically powering off anaerial vehicle according to an embodiment of the present disclosure. Themethod can be implemented by a flight controller which is disposedonboard the aerial vehicle and connected with various sensors onboardthe aerial vehicle. In some embodiments, the method can compriseprocesses S101 to S102.

In process S101, an operating state of an aerial vehicle can bedetected.

In some instances, the operating state of the aerial vehicle cancomprise a landed state, a normal flight state, a taking-off state andthe like.

A landed state of the aerial vehicle can be detected by obtaining andanalyzing data of various sensors.

In process S101, a determination can be made on whether the aerialvehicle has landed based on any one or more pieces of obtained flightinformation. The flight information can comprise relative altitudeinformation, absolute altitude information and movement information.

In some instances, data of a distance measuring sensor can be obtainedand analyzed. The distance measuring sensor can obtain a distance of theaerial vehicle relative to a landing plane (e.g., the ground). Adetermination can be made that the aerial vehicle is landed if adistance to the landing plane as measured by the distance measuringsensor is smaller than a preset distance threshold for a time periodreaching a time period threshold. For instance, if the distance of theaerial vehicle relative to the ground is smaller than 2 centimeters for30 seconds, a determination can be made that the aerial vehicle islanded. The distance measuring sensor can be an ultrasonic sensor, avisual distance measuring sensor, etc.

Various processes can be possible for determining a state of the aerialvehicle. In some embodiments, the process S101 can comprise determiningwhether a descending instruction is continuously received, determiningwhether a propulsion output is decreased to an output threshold which isnot sufficient to support a flight of the aerial vehicle, anddetermining whether the aerial vehicle makes any movement based on aninertial measurement unit (IMU). If the descending instruction iscontinuously received, the propulsion output is smaller than the outputthreshold and the aerial vehicle makes no movement, a determination canbe made that the aerial vehicle is landed.

In some embodiments, the process S101 can comprise calculating in realtime a variance Var_press of altitude values of the aerial vehicle whichare measured by a barometric altimeter. A determination can be made thatthe aerial vehicle is landed if Var_press is smaller than a landingthreshold Var_static and the aerial vehicle is descending; otherwise, adetermination can be made that the aerial vehicle is not landed.

In some embodiments, the process S101 can comprise calculating in realtime a variance Var_press of altitude values of the aerial vehicle whichare measured by the barometric altimeter, and counting a number of timesN_us that measurements of the ultrasonic sensor being continuouslysmaller than a landing altitude threshold. If the ultrasonic sensoroperates properly, the ultrasonic sensor can be used to determine alanding of the aerial vehicle. A determination can be made that theaerial vehicle is landed if N_us is greater than a threshold N_landing(which is a threshold for determining a landing of the aerial vehicle bymeans of ultrasonic sensor); otherwise, a determination can be made thatthe aerial vehicle is not landed. If the ultrasonic sensor operatesimproperly (e.g., being damaged or not accessible to the system), abarometer can be used to determine a landing of the aerial vehicle. Adetermination can be made that the aerial vehicle is landed if Var_pressis smaller than the landing threshold Var_static and the aerial vehicleis descending; otherwise, a determination can be made that the aerialvehicle is not landed.

In process S102, a powering off signal can be sent to shut down apropulsion output to the aerial vehicle if a determination is made thatthe aerial vehicle is landed.

In some instances, the process S102 can comprise sending a power offinstruction to a propulsion component of the aerial vehicle if adetermination is made that the aerial vehicle is landed in process S101,such that the propulsion component shuts down a propulsion output inresponse to the power off instruction.

The process S102 can comprise sending a turn off instruction to anelectric power of the aerial vehicle if a determination is made that theaerial vehicle is landed in process S101. A electric powering to thepropulsion component of the aerial vehicle can be shut down in responseto the power off instruction, such that the propulsion output to theaerial vehicle is shut down.

With the present disclosure, a landing of the aerial vehicle can beaccurately detected. A propulsion output of the aerial vehicle can beautomatically shut down if a landing of the aerial vehicle is detected.An energy of the aerial vehicle can be saved, and a user requirement onan automatic and intelligent power off of a propulsion of aerial vehiclecan be satisfied.

A method for automatically powering off an aerial vehicle will bedescribed in details according to embodiments of the present disclosure.Four methods for detecting a landing of the aerial vehicle are providedin embodiments as described with reference to FIG. 2 to FIG. 5. Inimplementing the present disclosure, the method of detecting a landingof the aerial vehicle can be any one or a combination of any of the fourembodiments. For instance, the method of detecting a lancing of theaerial vehicle can be any one or a combination of any of the fourembodiments in view of a user demand on a detecting accuracy.

FIG. 2 is a flow chart of another method for automatically powering offan aerial vehicle according to an embodiment of the present disclosure.The method can be implemented by a flight controller which is disposedonboard the aerial vehicle and connected with various sensors onboardthe aerial vehicle. In some embodiments, the method can compriseprocesses S201 to S203.

In process S201, relative altitude information of the aerial vehicle canbe obtained. The relative altitude information can comprise a landingdistance to a landing plane.

In process S202, a determination is made that the aerial vehicle islanded if the obtained relative altitude information satisfies a presetlanded criterion.

In some instances, relative altitude information satisfying the presetlanded criterion can mean that, a number of landing distances, which areobtained within a time period threshold and smaller than a distancethreshold, reaches a threshold. The time period threshold and thedistance threshold are specified in the landed criterion.

The relative altitude information can be a plurality of landing distancevalues which are obtained in real time. Optionally, the relativealtitude information can be a plurality of landing distance values whichare periodically obtained at a preset time interval. A starting time ofthe time period threshold can be determined dynamically according toactual circumstances. For instance, a starting time of the time periodthreshold can be refreshed and restarted if two landing distances, whichare detected consecutively, are greater than the distance threshold. Forexample, in 50 landing distances detected within 10 seconds, there are48 landing distances that are smaller than the distance threshold (e.g.,a threshold of 45 is exceeded), a determination can be made that theaerial vehicle satisfies the preset landed criterion, and the aerialvehicle is landed.

The relative altitude information can be a distance of an aerial vehiclerelative to a below plane (e.g., the ground, a landing platform, etc.).The relative altitude information can be obtained from modules such asan ultrasonic sensor, a visual distance measuring sensor having two ormore visual sensors.

In process S203, a propulsion output to the aerial vehicle can be shutdown if the aerial vehicle is determined as landed, such that the aerialvehicle is automatically powered off after landing.

In some embodiments, the process S203 can comprise determining whetherthe propulsion output of the aerial vehicle is currently enabled andwhether an automatic take-off operation indicated by an automatictake-off instruction is currently performed, if a determination is madethat the aerial vehicle is landed, and shutting down the propulsionoutput of the aerial vehicle if the propulsion output is currentlyenabled and the automatic take-off operation is currently not performed.In some instances, there is a possibility that the aerial vehicle isabout to take off even if the aerial vehicle is landed or the landingdistance of the aerial vehicle is small for a period of time. Therefore,in some embodiments of the disclosure, a further detection on whetherthe aerial vehicle is to perform an automatic take-off operation can benecessary even if a determination is made that the aerial vehicle islanded. For instance, a determination can be made on whether a userenables a function of “automatic take-off after 20 seconds”. If such afunction is enabled, a shutting down of the propulsion output cannot beperformed, and if such a function is not enabled, the propulsion outputof the aerial vehicle can be shut down. In this way, other functions ofthe aerial vehicle (such as an automatic take-off function) may not beinterrupted by shutting down the propulsion output, and any erroneousoperations can be avoided.

In some embodiments, an operating state of the aerial vehicle can bedetected at least twice. For instances, the process S203 can comprisedetecting a position of a throttle joystick of a remote controller ofthe aerial vehicle if a number of detecting that the aerial vehiclebeing landed is greater than a preset threshold, and shutting down thepropulsion output of the aerial vehicle if the throttle joystick of theremote controller is at a lowest position where the aerial vehicle isrequested to land. The purpose of detecting multiple times the aerialvehicle is landed and receiving position information of a throttlejoystick from a controller is to ensure the aerial vehicle is landed,and to prevent any erroneous operations.

In some embodiments, shutting down the propulsion output of the aerialvehicle can comprise sending a power off instruction to the propulsioncomponent of the aerial vehicle, such that the propulsion componentshuts down the propulsion output in response to the power offinstruction, and/or sending a turning off instruction to an electricpower of the aerial vehicle, such that an electric powering to thepropulsion component of the aerial vehicle is shut down in response tothe turning off instruction.

With the present disclosure, a landing determination can be made onwhether the relative altitude information (such as a distance of theaerial vehicle relative to the ground) satisfies a preset landedcriterion. The criterion can include a time period threshold, a distancethreshold and a number of time threshold. A determination on whether theaerial vehicle is landed can be made effectively and accurately,preventing any erroneous determination and any erroneous operations. Thepropulsion output of the aerial vehicle can be instantly shut down tosave energy of the aerial vehicle. A user requirement on an automaticand intelligent power off of a propulsion of aerial vehicle can besatisfied.

FIG. 3 is a flow chart of yet another method for automatically poweringoff an aerial vehicle according to an embodiment of the presentdisclosure. The method can be implemented by a flight controller whichis disposed onboard the aerial vehicle and connected with varioussensors onboard the aerial vehicle. In some embodiments, the method cancomprise processes S301 to S304.

In process S301, absolute altitude information of the aerial vehicle canbe obtained during a flight.

In process S302, a variance of absolute altitudes can be calculated fromthe obtained absolute altitude information.

In process S303, a determination is made that the aerial vehicle islanded if the calculated variance is smaller than a variance threshold,which is set in a preset landed criterion, and the aerial vehicle isdescending.

The absolute altitude information of the aerial vehicle can be measuredby a sensor module. The sensor module can be a barometer and the like. Adetermination can be made that the aerial vehicle is landed if (1) theaerial vehicle is in a descending process (in particular, in anautomatic descending process), and (2) the variance of absolutealtitudes is smaller than a certain value (that is, a change in a heightof the aerial vehicle is small). If the aerial vehicle is not in adescending process, the aerial vehicle may be in a flight where theabsolute altitude is stable; therefore the aerial vehicle cannot bepowered off.

In process S304, a propulsion output to the aerial vehicle can be shutdown if the aerial vehicle is determined as landed, such that the aerialvehicle is automatically powered off after landing.

In some instances, the process S304 can comprise determining whether thepropulsion output of the aerial vehicle is currently enabled and whetheran automatic take-off operation indicated by an automatic take-offinstruction is currently performed, if a determination is made that theaerial vehicle is landed, and shutting down the propulsion output of theaerial vehicle if the propulsion output is currently enabled and theautomatic take-off operation is currently not performed. In someinstances, there is a possibility that the aerial vehicle is about totake off even if the aerial vehicle is landed. Therefore, in someembodiments of the disclosure, a further detection on whether the aerialvehicle is to perform an automatic take-off operation can be necessaryeven if a determination is made that the aerial vehicle is landed. Forinstance, a determination can be made on whether a user enables afunction of “automatic take-off after 20 seconds”. If such a function isenabled, a shutting down of the propulsion output cannot be performed,and if such a function is not enabled, the propulsion output of theaerial vehicle can be shut down. In this way, other functions of theaerial vehicle (such as an automatic take-off function) may not beinterrupted by shutting down the propulsion output, and any erroneousoperations can be avoided.

In some embodiments, an operating state of the aerial vehicle can bedetected at least twice. For instances, the process S304 can comprisedetecting a position of a throttle joystick of a remote controller if anumber of detecting that the aerial vehicle being landed is greater thana preset threshold, and shutting down the propulsion output of theaerial vehicle if the throttle joystick of the remote controller is at alowest position (at which the aerial vehicle is requested to land). Thepurpose of detecting multiple times the aerial vehicle is landed andreceiving position information of a throttle joystick from a controlleris to ensure the aerial vehicle is landed, and to prevent any erroneousoperations.

In some embodiments, shutting down the propulsion output of the aerialvehicle can comprise sending a power off instruction to the propulsioncomponent of the aerial vehicle, such that the propulsion componentshuts down the propulsion output in response to the power offinstruction, and/or sending a power off instruction to an electric powerof the aerial vehicle, such that an electric powering to the propulsioncomponent of the aerial vehicle is shut down in response to the poweroff instruction.

With the present disclosure, a landing determination can be made basedon a variance of absolute altitudes and a flight being a descending ornot. A determination on whether the aerial vehicle is landed can be madeeffectively and accurately, preventing any erroneous determination andany erroneous operations. The propulsion output of the aerial vehiclecan be instantly shut down to save energy of the aerial vehicle. A userrequirement on an automatic and intelligent power off of a propulsion ofaerial vehicle can be satisfied.

FIG. 4 is a flow chart of still yet another method for automaticallypowering off an aerial vehicle according to an embodiment of the presentdisclosure. The method can be implemented by a flight controller whichis disposed onboard the aerial vehicle and connected with varioussensors onboard the aerial vehicle. The method can comprise processesS401 to S406.

In process S401, an operating state of a distance measuring module,which is provided onboard the aerial vehicle, can be detected. Thedistance measuring module can be an ultrasonic sensor, a visual distancemeasuring sensor having two or more visual sensors, and the like.

In process S402, the distance measuring module can be used to detect alanding distance of the aerial vehicle to a landing plane if theoperating state of the distance measuring module is a normal state. Thedetected landing distances can be a plurality of landing distance valueswhich are detected in real time. Optionally, the detected landingdistances can be a plurality of landing distance values which aredetected at a certain time interval.

In process S403, a determination can be made that a preset landedcriterion is satisfied and the aerial vehicle is landed if a number oflanding distances, which are detected within a preset time periodthreshold and are smaller than a preset distance threshold, reaches apreset threshold.

The method of determining a landing of the aerial vehicle based on thelanding distances and relative flight altitudes is described inembodiments with reference to FIG. 2.

In process S404, absolute altitude information of the aerial vehicle canbe obtained during current flight if the distance measuring moduleoperates improperly, and a variance of the absolute altitudes can becalculated from the obtained absolute altitude information. The absolutealtitude information can be obtained by an apparatus such as abarometer.

In process S405, a determination can be made that the preset landedcriterion is satisfied and the aerial vehicle is landed if the varianceof the absolute altitudes is smaller than a preset threshold and aflight of the aerial vehicle is descending.

The method of determining whether the aerial vehicle is landed based onthe variance of the absolute altitude information is described inembodiments with reference to FIG. 3.

In process S406, a propulsion output to the aerial vehicle can be shutdown if the aerial vehicle is determined as landed, such that the aerialvehicle is automatically powered off after landing.

In some instances, the process S406 can comprise determining whether thepropulsion output of the aerial vehicle is currently enabled and whetheran automatic take-off operation indicated by an automatic take-offinstruction is currently performed, if a determination is made that theaerial vehicle is landed, and shutting down the propulsion output of theaerial vehicle if the propulsion output is currently enabled and theautomatic take-off operation is currently not performed. In someinstances, there is a possibility that the aerial vehicle is about totake off even if the aerial vehicle is landed. Therefore, in someembodiments of the disclosure, a further detection on whether the aerialvehicle is to perform an automatic take-off operation can be necessaryeven if a determination is made that the aerial vehicle is landed. Forinstance, a determination can be made on whether a user enables afunction of “automatic take-off after 20 seconds”. If such a function isenabled, a shutting down of the propulsion output cannot be performed,and if such a function is not enabled, the propulsion output of theaerial vehicle can be shut down. In this way, other functions of theaerial vehicle (such as an automatic take-off function) may not beinterrupted by shutting down the propulsion output, and any erroneousoperations can be avoided.

In some embodiments, an operating state of the aerial vehicle can bedetected at least twice. For instances, the process S406 can comprisedetecting a position of a throttle joystick of a remote controller if anumber of detecting that the aerial vehicle being landed is greater thana preset threshold, and shutting down the propulsion output of theaerial vehicle if the throttle joystick of the remote controller is at alowest position (at which the aerial vehicle is requested to land). Thepurpose of detecting multiple times the aerial vehicle is landed andreceiving position information of a throttle joystick from a controlleris to ensure the aerial vehicle is landed, and to prevent any erroneousoperations.

In some embodiments, shutting down the propulsion output of the aerialvehicle can comprise sending a power off instruction to the propulsioncomponent of the aerial vehicle, such that the propulsion componentshuts down the propulsion output in response to the power offinstruction, and/or sending a power off instruction to an electric powerof the aerial vehicle, such that an electric powering to the propulsioncomponent of the aerial vehicle is shut down in response to the poweroff instruction.

With the present disclosure, a landing determination can be made basedon a relative altitude of a flight and an absolute altitude of a flight.A determination on whether the aerial vehicle is landed can be madeeffectively and accurately, preventing any erroneous determination andany erroneous operations. The propulsion output of the aerial vehiclecan be instantly shut down to save energy of the aerial vehicle. A userrequirement on an automatic and intelligent power off of a propulsion ofaerial vehicle can be satisfied.

FIG. 5 is a flow chart of a method for determining an operating state ofan aerial vehicle based on IMU according to an embodiment of the presentdisclosure. The method can be implemented by a flight controller whichis disposed onboard the aerial vehicle and connected with IMU onboardthe aerial vehicle. The method can comprise processes S501 to S504.

In process S501, movement information of the aerial vehicle can bemeasured and obtained with an inertial measurement unit (IMU).

In process S502, a determination can be made on whether the aerialvehicle is landed based on the obtained movement information of theaerial vehicle.

In process S503, a determination can be made that the aerial vehicle islanded, if the aerial vehicle is landed.

In some embodiments of the present disclosure, a movement of the aerialvehicle can be detected by a IMU. In particularly, in performing anautomatic descending operation, a determination can be made that theaerial vehicle is landed if no movement of the aerial vehicle isdetected by the IMU sensor. The movement information can comprise athree-dimensional acceleration, a three-dimensional angularacceleration, etc. A determination can be made that no movement of theaerial vehicle occurs and the aerial vehicle is landed if a value of thethree-dimensional acceleration and/or the three-dimensional angularacceleration is small or a variation thereof is smaller than a presetthreshold.

In process S504, a propulsion output to the aerial vehicle can be shutdown if the aerial vehicle is determined as landed, such that the aerialvehicle is automatically powered off after landing.

In some instances, the process S504 can comprise determining whether thepropulsion output of the aerial vehicle is currently enabled and whetheran automatic take-off operation indicated by an automatic take-offinstruction is currently performed, if a determination is made that theaerial vehicle is landed, and shutting down the propulsion output of theaerial vehicle if the propulsion output is currently enabled and theautomatic take-off operation is currently not performed. In someinstances, there is a possibility that the aerial vehicle is about totake off even if the aerial vehicle is landed. Therefore, in someembodiments of the disclosure, a further detection on whether the aerialvehicle is to perform an automatic take-off operation can be necessaryeven if a determination is made that the aerial vehicle is landed. Forinstance, a determination can be made on whether a user enables afunction of “automatic take-off after 20 seconds”. If such a function isenabled, a shutting down of the propulsion output cannot be performed,and if such a function is not enabled, the propulsion output of theaerial vehicle can be shut down. In this way, other functions of theaerial vehicle (such as an automatic take-off function) may not beinterrupted by shutting down the propulsion output, and any erroneousoperations can be avoided.

In some embodiments, an operating state of the aerial vehicle can bedetected at least twice. For instances, the process S504 can comprisedetecting a position of a throttle joystick of a remote controller if anumber of detecting that the aerial vehicle being landed is greater thana preset threshold, and shutting down the propulsion output of theaerial vehicle if the throttle joystick of the remote controller is at alowest position (at which the aerial vehicle is requested to land). Thepurpose of detecting multiple times the aerial vehicle is landed andreceiving position information of a throttle joystick from a controlleris to ensure the aerial vehicle is landed, and to prevent any erroneousoperations.

In some embodiments, shutting down the propulsion output of the aerialvehicle can comprise sending a power off instruction to the propulsioncomponent of the aerial vehicle, such that the propulsion componentshuts down the propulsion output in response to the power offinstruction, and/or sending a power off instruction to an electric powerof the aerial vehicle, such that an electric powering to the propulsioncomponent of the aerial vehicle is shut down in response to the poweroff instruction.

With the present disclosure, a landing determination can be made basedon a IMU data. A determination on whether the aerial vehicle is landedcan be made effectively and accurately, preventing any erroneousdetermination and any erroneous operations. The propulsion output of theaerial vehicle can be instantly shut down to save energy of the aerialvehicle. A user requirement on an automatic and intelligent power off ofa propulsion of aerial vehicle can be satisfied.

A device for automatically powering off an aerial vehicle and an aerialvehicle according to embodiments of the present disclosure will bedescribed in details below.

FIG. 6 is a view showing a structure of a device for automaticallypowering off an aerial vehicle according to an embodiment of the presentdisclosure. The device can be disposed in a flight controller of theaerial vehicle. In some embodiments, the device can comprise modules 1and 2.

The detecting module 1 can detect an operating state of the aerialvehicle.

The power off module 2 can shut down a propulsion output of the aerialvehicle to effect automatic powering off of the aerial vehicle afterlanding, if the operating state of the aerial vehicle is a landed state.

In some embodiments, the operating state of the aerial vehicle cancomprise a landed state, a normal flight state, a taking-off state, etc.

The detecting module 1 can determine whether the aerial vehicle is inthe landed state by obtaining data of various sensors.

The detecting module 1 can determine whether the aerial vehicle islanded based on a comparison of any one or more pieces of the obtainedflight information, including relative altitude information, absolutealtitude information and movement information, with the criterions fordetermining a landing.

In some embodiments, the detecting module 1 can obtain and analyze dataof a distance measuring sensor. The distance measuring sensor can obtaina distance of the aerial vehicle relative to a landing plane (e.g., theground). The detecting module 1 can determine that the aerial vehicle isin the landed state if the distance of the aerial vehicle relative tothe landing plane as measured by the distance measuring sensor issmaller than a preset distance threshold for a time period reaching atime period threshold. For instance, if the distance of the aerialvehicle relative to the ground is smaller than 2 centimeters for 30seconds, a determination can be made that the aerial vehicle is landed.The distance measuring sensor can be an ultrasonic sensor, a visualdistance measuring sensor, etc.

In some embodiments, the detecting module 1 can determine whether adescending instruction is continuously received, determining whether apropulsion output is decreased to an output threshold which is notsufficient to support a flight of the aerial vehicle, and determinewhether the aerial vehicle makes any movement based on an inertialmeasurement unit (IMU). If the descending instruction is continuouslyreceived, the propulsion output is smaller than the output threshold andthe aerial vehicle makes no movement, a determination can be made thatthe aerial vehicle is in the landed state.

In some embodiments, the detecting module 1 can calculate in real time avariance Var_press of altitude values of the aerial vehicle which aremeasured by the barometric altimeter. A determination can be made thatthe aerial vehicle is landed if Var_press is smaller than a landingthreshold Var_static and the aerial vehicle is descending; otherwise, adetermination can be made that the aerial vehicle is not landed.

In some embodiments, the detecting module 1 can calculate in real time avariance Var_press of altitude values of the aerial vehicle which aremeasured by the barometric altimeter, and count a number of times N_usthat measurements of the ultrasonic sensor being continuously smallerthan a landing altitude threshold. If the ultrasonic sensor operatesproperly, the ultrasonic sensor can be used to determine a landing ofthe aerial vehicle. A determination can be made that the aerial vehicleis landed if N_us is greater than a threshold N_landing (which is athreshold for determining a landing of the aerial vehicle by means ofultrasonic sensor); otherwise, a determination can be made that theaerial vehicle is not landed. If the ultrasonic sensor operatesimproperly (e.g., being damaged or not accessible to the system), abarometer can be used to determine a landing of the aerial vehicle. Adetermination can be made that the aerial vehicle is landed if Var_pressis smaller than the landing threshold Var_static and the aerial vehicleis descending; otherwise, a determination can be made that the aerialvehicle is not landed.

The power off module 2 can send a powering off signal to shut down apropulsion output to the aerial vehicle if the detecting module 1determines that the aerial vehicle is in the landed state.

In some instances, the power off module 2 can send a power offinstruction to a propulsion component of the aerial vehicle if thedetecting module 1 detects that the aerial vehicle is in the landedstate, such that the propulsion component shuts down a propulsion outputin response to the power off instruction

The power off module 2 can send a turn off instruction to a power supplyof the aerial vehicle if the detecting module 1 detects that the aerialvehicle is in the landed state. A electric powering to the propulsioncomponent of the aerial vehicle can be shut down in response to thepower off instruction, such that the propulsion output to the aerialvehicle is shut down.

With the present disclosure, a landing of the aerial vehicle can beaccurately detected. A propulsion output of the aerial vehicle can beautomatically shut down if a landing of the aerial vehicle is detected.An energy of the aerial vehicle can be saved, and a user requirement onan automatic and intelligent power off of a propulsion of aerial vehiclecan be satisfied.

In another embodiment of the device for automatically powering off anaerial vehicle, the device can comprise the detecting module 1 and thepower off module 2 as described hereinabove. In the another embodiment,the detecting module 1 can obtain flight information of the aerialvehicle and determine whether the flight information satisfies a landedcriterion. The detecting module 1 can determine that the aerial vehicleis in the landed state if the flight information satisfies the landedcriterion. The flight information can comprise one or more pieces ofrelative altitude information, absolute altitude information andmovement information.

In some embodiments, as shown in FIG. 7, the detecting module 1 cancomprise a first obtaining unit 11 and a first determining unit 12.

The first obtaining unit 11 can obtain relative altitude information ofthe aerial vehicle. The relative altitude information can comprise alanding distance to a landing plane.

The first determining unit 12 can determine that the aerial vehicle isin the landed state if the obtained relative altitude information of theaerial vehicle satisfies a preset landed criterion.

In some instances, the first determining unit 12 can determine that therelative altitude information satisfies the preset landed criterion if anumber of landing distances, which are obtained within a time periodthreshold and are smaller than a distance threshold, reaches athreshold. The time period threshold and the distance threshold arespecified in the landed criterion.

The relative altitude information can be relative altitude informationof the aerial vehicle. The relative altitude information can be detectedand obtained by an ultrasonic detector, a visual distance measuringsensor, etc. The relative altitude information can be obtained in realtime. Optionally, the relative altitude information can be periodicallyobtained at a certain time interval.

In some embodiments, as shown in FIG. 7, the detecting module 1 cancomprise a second obtaining unit 13 and a second determining unit 14:

The second obtaining unit 13 can obtain absolute altitude information ofthe aerial vehicle.

The second determining unit 14 can calculate a variance of absolutealtitudes from the obtained absolute altitude information. The seconddetermining unit 14 can determine that a preset landed criterion issatisfied and the aerial vehicle is in the landed state, if the obtainedvariance is smaller than a variance threshold, which is specified in apreset landed criterion, and the aerial vehicle is in a descendingprocess.

The absolute altitude information can be measured by a sensor such as abarometer. The absolute altitude information of the aerial vehicle canbe obtained in real time during a flight.

In some embodiments, as shown in FIG. 7, the detecting module 1 cancomprise a detecting unit 15, third determining unit 16 and a fourthdetermining unit 17.

The detecting unit 15 can detect an operating state of a distancemeasuring module onboard the aerial vehicle.

The third determining unit 16 can instruct the distance measuring moduleto detect a landing distance of the aerial vehicle to a landing plane ifthe operating state of the distance measuring module is a normal state.The third determining unit 16 can determine that a preset landedcriterion is satisfied and the aerial vehicle is in the landed state ifa number of landing distances, which are detected within a preset timeperiod threshold and are smaller than a preset distance threshold,reaches a preset threshold.

The fourth determining unit 17 can obtain absolute altitude informationof the aerial vehicle, and calculate a variance of absolute altitudesfrom the obtained absolute altitude information if the operating stateof the distance measuring module is an abnormal state. The fourthdetermining unit 17 can determine that a preset landed criterion issatisfied and the aerial vehicle is in the landed state if the obtainedvariance is smaller than a preset threshold and the aerial vehicle isdescending.

In some embodiments, as shown in FIG. 7, the detecting module 1 cancomprise a third obtaining unit 18 and a fifth determining unit 19.

The third obtaining unit 18 can instruct an inertial measurement unit(IMU) to measure movement information of the aerial vehicle, and obtainthe measured movement information;

The fifth determining unit 19 can determine whether the aerial vehicleis landed based on the obtained movement information. If the aerialvehicle is landed, a determination can be made that the aerial vehicleis landed.

A movement of the aerial vehicle can be determined from an acceleration,an angular acceleration of the aerial vehicle as detected by the IMU. Insome instances, after the aerial vehicle performs a descending operationsuch as an automatic descending, a determination is made that the aerialvehicle is landed if it is determined from the IMU that the aerialvehicle has no movement.

It will be appreciated that, the detecting module 1 can comprise any oneor more pieces of a combination of the first obtaining unit 11 and thefirst determining unit 12, a combination of the second obtaining unit 13and the second determining unit 14, a combination of the detecting unit15, the third determining unit 16 and the fourth determining unit 17,and a combination of the third obtaining unit 18 and the fifthdetermining unit 19, so as to satisfy a user requirement on precision indetecting the landed state.

In some embodiments, as shown in FIG. 8, the power off module 2 cancomprise a determining unit 21 and a first power off unit 22.

The determining unit 21 can determine whether the propulsion output ofthe aerial vehicle is currently enabled and whether an automatictake-off operation indicated by an automatic take-off instruction iscurrently performed, if the aerial vehicle is in a landed state.

The first power off unit 22 can shut down the propulsion output of theaerial vehicle if the propulsion output is currently enabled and theautomatic take-off operation is currently not performed.

In some embodiments, as shown in FIG. 8, the power off module 2 cancomprise a detecting unit 23 and a second power off unit 24.

The detecting unit 23 can detect a position of a throttle joystick of aremote controller if a number of detecting that the aerial vehicle beinglanded is greater than a preset threshold.

The second power off unit 24 can shut down the propulsion output of theaerial vehicle if the throttle joystick of the remote controller is at alowest position (at which the aerial vehicle is requested to land).

In some embodiments, in shutting down the propulsion output of theaerial vehicle, the power off module 2 can send a power off instructionto the propulsion component of the aerial vehicle, such that thepropulsion component shuts down the propulsion output in response to thepower off instruction.

In some embodiments, in shutting down the propulsion output of theaerial vehicle, the power off module 2 can send a turning offinstruction to an electric power of the aerial vehicle, such that anelectric powering to the propulsion component of the aerial vehicle isshut down in response to the turning off instruction.

It will be appreciated that, a description of modules or units in thedevice for automatically powering off an aerial vehicle according to anembodiment of the present disclosure can refer to the description ofembodiments as described with reference to FIG. 1 to FIG. 5.

With the present disclosure, a landing of the aerial vehicle can beaccurately detected. A propulsion output of the aerial vehicle can beautomatically shut down if a landing of the aerial vehicle is detected.An energy of the aerial vehicle can be saved, and a user requirement onan automatic and intelligent power off of a propulsion of aerial vehiclecan be satisfied.

FIG. 9 is a view showing a structure of an aerial vehicle according toan embodiment of the present disclosure. The aerial vehicle of theembodiment can be various types of rotor-wing aerial vehicles. In someembodiments, the aerial vehicle can comprise a propulsion component 200and a flight controller 100. The propulsion component 200 can provide apropulsion for the aerial vehicle and enable the aerial vehicle toperform various flight. The flight controller 100 can implement variousfunctions under the control of applications stored in a memory.

The flight controller 100 can detect an operating state of the aerialvehicle, and shut down the propulsion output of the propulsion component200 if the aerial vehicle is in the landed state, to effect automaticpowering off of the aerial vehicle after landing.

In some embodiments, the aerial vehicle can comprise a flight sensor300. The flight sensor 300 can obtain flight information of the aerialvehicle. The flight information can comprise any one or more pieces ofrelative altitude information, absolute altitude information andmovement information of the aerial vehicle

In some embodiments, the flight controller 100 can determine whether theobtained information from the flight sensor 300 satisfies a presetlanded criterion. A determination can be made that the aerial vehicle isin a landed state if the preset landed criterion is satisfied.

In some embodiments, the flight sensor 300 can comprise a distancemeasuring sensor 301. The distance measuring sensor 301 can obtainrelative altitude information of the aerial vehicle. The relativealtitude information can comprise a landing distance to a landing plane.

The flight controller 100 is configured for determining that the aerialvehicle is in the landed state if the relative altitude informationobtained from the distance measuring sensor 301 satisfies a presetlanded criterion.

In some embodiments, the flight controller 100 can determine that therelative altitude information satisfies a preset landed criterion if anumber of landing distances, which are obtained within a time periodthreshold and are smaller than a distance threshold, reaches athreshold. The time period threshold and the distance threshold arespecified in the landed criterion.

In some embodiments, the flight sensor 300 can comprise an altitudesensor 302. The altitude sensor 302 can obtain absolute altitudeinformation of the aerial vehicle.

The flight controller 100 can calculate a variance of absolute altitudesfrom the absolute altitude information obtained from the altitude sensor200. The flight controller 100 can determine that a preset landedcriterion is satisfied and the aerial vehicle is in the landed state ifthe obtained variance is smaller than a preset threshold and the aerialvehicle is descending.

The flight sensor 300 can comprise one of or a combination of theabove-described distance measuring sensor 301 and altitude sensor 302.The flight controller 100 can determine whether the aerial vehicle is inthe landed state based on data from the distance measuring sensor 301 orthe altitude sensor 302. Alternatively, the flight sensor 300 candetermine whether the aerial vehicle is in the landed state based ondata from both the distance measuring sensor 301 and the altitude sensor302. In some instance, the distance measuring sensor 301 can detect andrecord a landing distance of the aerial vehicle to a landing plane at acertain time interval. The altitude sensor 302 can obtain absolutealtitude information of the aerial vehicle during a flight.

The flight controller 100 can detect an operating state of a distancemeasuring module onboard the aerial vehicle. The flight controller 100can instruct the distance measuring module to detect a landing distanceof the aerial vehicle to a landing plane if the operating state of thedistance measuring module is a normal state. The flight controller 100can determine that a preset landed criterion is satisfied and the aerialvehicle is in the landed state if a number of landing distances, whichare detected within a preset time period threshold and are smaller thana preset distance threshold, reaches a preset threshold. Otherwise, theflight controller 100 can obtain absolute altitude information of theaerial vehicle, and calculate a variance of absolute altitudes from theobtained absolute altitude information if the operating state of thedistance measuring module is an abnormal state. The flight controller100 can determine that a preset landed criterion is satisfied and theaerial vehicle is in the landed state if the a variance is smaller thana preset threshold and the aerial vehicle is descending.

In some embodiments, the aerial vehicle can comprise an inertialmeasurement sensor 303. The inertial measurement sensor 303 can measuremovement information of the aerial vehicle. The flight controller 100can instruct the inertial measurement sensor 303 to measure the movementinformation of the aerial vehicle, and determine whether the aerialvehicle is landed based on the movement information obtained from theinertial measurement sensor 303. If the aerial vehicle is landed, adetermination can be made that the aerial vehicle is landed.

In some embodiments, the flight controller 100 can determine whether thepropulsion output of the aerial vehicle is currently enabled and whetheran automatic take-off operation indicated by an automatic take-offinstruction is currently performed, if the aerial vehicle is in a landedstate. The flight controller 100 can shut down the propulsion output ofthe aerial vehicle if the propulsion output is currently enabled and theautomatic take-off operation is currently not performed.

In some embodiments, the flight controller 100 can detect a position ofa throttle joystick of a remote controller if a number of detecting thatthe aerial vehicle being landed is greater than a preset threshold. Theflight controller 100 can shut down the propulsion output of the aerialvehicle if the throttle joystick of the remote controller is at a lowestposition (at which the aerial vehicle is requested to land).

In some embodiments, the flight controller 100 can send a power offinstruction a propulsion component 200 of the aerial vehicle. Thepropulsion component can shut down the propulsion output in response tothe power off instruction.

In some embodiments, the aerial vehicle can comprise a power supply 400.The flight controller 100 can send a turning off instruction to thepower supply 400. The power supply 400 can turn off a powering to thepropulsion component 200 in response to the turning off instruction.

It will be appreciated that, a description of various components of theaerial vehicle can refer to the description of embodiments as describedwith reference to FIG. 1 to FIG. 7.

With the present disclosure, a landing of the aerial vehicle can beaccurately detected. A propulsion output of the aerial vehicle can beautomatically shut down if a landing of the aerial vehicle is detected.An energy of the aerial vehicle can be saved, and a user requirement onan automatic and intelligent power off of a propulsion of aerial vehiclecan be satisfied.

It will be appreciated that, in the embodiments described hereinabove,the disclosed devices and methods can be implemented by various ways.For instance, the above-described device embodiments are merelyschematic. For example, a division of the modules or units is merely adivision in logic function, and other division manners of the modules orunits can be otherwise implemented. In some instances, a plurality ofunits or components can be combined or integrated into another system.Optionally, some features can be omitted or not performed. Furthermore,a coupling, a direct coupling or a direct communication connectionbetween modules can be an indirect coupling or an indirect communicationconnection via an interface. An indirect coupling or a communicationconnection between modules can be in electrical coupling, mechanicalcoupling or a coupling in other forms.

Units described as separate parts can or cannot be physically separated.Components shown as units can or cannot be physical units, for instance,they can be located in one place, or can be distributed into a pluralityof network units. Some or all of the units can be selected to achievethe objects of the embodiments in view of actual requirements.

Various functional units described in various embodiments of the presentdisclosure can be integrated into one processing unit. Optionally, thevarious functional units can be physical individuals. Two or more of thevarious function units can be integrated into one unit. The integratedunit can be implemented in a form of hardware or in a form of softwarefunctional units.

If integrated units are implemented in a form of software functionalunits and sold or used as independent products, they can be stored in acomputer readable storage medium. In this concept, some or all of thetechnical solution consistent with the present disclosure can beembodied in a form of a software product. The software product can bestored in a storage medium. The software product can compriseinstructions which cause a computer processor to execute some or all ofthe processes of methods in various embodiments of the presentdisclosure. The above-mentioned storage medium can comprise variousmedium capable of storing program codes, such as a USB flash disk, amovable hard disc, a Read-Only Memory (ROM), a random access memory(RAM), a diskette or an optical disc.

The foregoing disclosure is merely illustrative of the embodiments ofthe disclosure but not intended to limit the scope of the disclosure.Any equivalent modifications to a structure or process flow, which aremade without departing from the specification and the drawings of thedisclosure, and a direct or indirect application in other relevanttechnical fields, shall also fall into the scope of the disclosure.

What is claimed is:
 1. A method for automatically powering off an aerialvehicle, comprising: detecting an operating state of the aerial vehiclebased on altitude information of the aerial vehicle, the attitudeinformation including at least one of absolute altitude information orrelative altitude information, and the relative altitude informationincluding a landing distance to a landing plane; determining whether theoperating state of the aerial vehicle indicates that the aerial vehiclehas landed; and in response to a determination result that the aerialvehicle has landed, shutting down a propulsion output of the aerialvehicle.
 2. The method of claim 1, wherein determining whether theoperating state of the aerial vehicle indicates that the aerial vehiclehas landed comprises: determining whether the altitude informationsatisfies a preset landed criterion; and determining the aerial vehiclehas landed in response to the altitude information satisfying the presetlanded criterion.
 3. The method of claim 2, wherein: the altitudeinformation comprises the relative altitude information comprising anumber of times the landing distance is measured within a preset timeperiod to be smaller than a distance threshold; determining whether thealtitude information satisfies the preset landed criterion comprisesdetermining whether the number of times reaches a threshold number; andthe aerial vehicle is determined as having landed in response todetermining that the number of times has reached the threshold number.4. The method of claim 1, wherein: the altitude information comprisesthe absolute altitude information comprising a plurality of absolutealtitude values; determining whether the altitude information satisfiesthe preset landed criterion comprises determining whether the aerialvehicle is descending and a variance of the plurality of absolutealtitude values is smaller than a threshold variance; and the aerialvehicle is determined as having landed in response to determining thatthe aerial vehicle is descending and the variance is smaller than thethreshold variance.
 5. The method of claim 1, wherein:: the altitudeinformation comprises: the relative altitude information comprising anumber of times the landing distance is measured within a preset timeperiod to be smaller than a distance threshold; and the absolutealtitude information comprising a plurality of absolute altitude values;determining whether the altitude information satisfies the preset landedcriterion comprises determining whether: a distance measuring sensorthat is provided at the aerial vehicle and configured to measure thelanding distance is operating in a normal state and the number of timesreaches a threshold number; and the aerial vehicle is descending and avariance of the plurality of absolute altitude values is smaller than athreshold variance; and the aerial vehicle is determined as havinglanded in response to determining that: the distance measuring sensor isoperating in the normal state and the number of times reaches thethreshold number; and the aerial vehicle is descending and the varianceis smaller than the threshold variance.
 6. The method of claim 1,wherein the aerial vehicle is an unmanned aerial vehicle (UAV).
 7. Themethod of claim 1, wherein shutting down the propulsion output of theaerial vehicle comprises: determining, in response to the aerial vehiclehaving landed, whether the propulsion output of the aerial vehicle isenabled and whether an automatic take-off operation indicated by anautomatic take-off instruction is performed; and shutting down thepropulsion output of the aerial vehicle in response to the propulsionoutput being enabled and the automatic take-off operation not beingperformed.
 8. The method of claim 1, wherein the operating state of theaerial vehicle is detected at least twice, and shutting down thepropulsion output of the aerial vehicle comprises: detecting a positionof a throttle joystick of a remote controller of the aerial vehicle inresponse to a number of times that the aerial vehicle is detected ashaving landed is greater than a preset threshold; and shutting down thepropulsion output of the aerial vehicle in response to the throttlejoystick of the remote controller being at a lowest position where theaerial vehicle is requested to land.
 9. The method of claim 1, whereinshutting down the propulsion output of the aerial vehicle comprises:sending a power off instruction to a propulsion component of the aerialvehicle, such that the propulsion component shuts down the propulsionoutput in response to the power off instruction.
 10. The method of claim1, wherein shutting down the propulsion output of the aerial vehiclecomprises: sending a turning off instruction to a power supply of theaerial vehicle, such that the power supply shut down powering to apropulsion component of the aerial vehicle to effect a power offoperation of the propulsion output in response to the turning offinstruction.
 11. An aerial vehicle, comprising: a propulsion component;and a flight controller configured to: detect an operating state of theaerial vehicle based on altitude information of the aerial vehicle, theattitude information including at least one of absolute altitudeinformation or relative altitude information, and the relative altitudeinformation including a landing distance to a landing plane, determiningwhether the operating state of the aerial vehicle indicates that theaerial vehicle has landed, and in response to a determination resultthat the aerial vehicle has landed, shut down a propulsion output of theaerial vehicle.
 12. The aerial vehicle of claim 11, further comprising:a flight sensor configured to obtain the at least one of the absolutealtitude information or the relative altitude information; wherein theflight controller is further configured to determine whether thealtitude information satisfies a preset landed criterion, and determinethat the aerial vehicle has landed in response to the flight informationsatisfying the preset landed criterion.
 13. The aerial vehicle of claim12, wherein: the flight sensor comprises a distance measuring sensorconfigured to obtain the relative altitude information of the aerialvehicle, the relative altitude information comprising a number of timesthe landing distance is measured within a preset time period to besmaller than a distance threshold; and the flight controller is furtherconfigured to: determine whether the number of times reaches a thresholdnumber; and determine that the aerial vehicle has landed in response todetermining that the number of times has reached the threshold number.14. The aerial vehicle of claim 12, wherein: the flight sensor comprisesan altitude sensor configured to obtain the absolute altitudeinformation of the aerial vehicle, the absolute altitude informationcomprising a plurality of absolute altitude values; and the flightcontroller is further configured to: calculate a variance of theplurality of absolute altitudes; determine that the aerial vehicle haslanded in response to determining that the aerial vehicle is descendingand the variance is smaller than a threshold variance.
 15. The aerialvehicle of claim 12, wherein: the flight sensor comprises: a distancemeasuring sensor configured to obtain the relative altitude informationof the aerial vehicle, the relative altitude information comprising anumber of times the landing distance is measured within a preset timeperiod to be smaller than a distance threshold; and an altitude sensorconfigured to obtain the absolute altitude information of the aerialvehicle, the absolute altitude information comprising a plurality ofabsolute altitude values; and the flight controller is furtherconfigured to: detect an operating state of the distance measuringsensor; calculate a variance of the plurality of absolute altitudes; anddetermine that the aerial vehicle has landed in response to determining:the operating state of the distance measuring sensor is a normal stateand the number of times reaches a threshold number; and the aerialvehicle is descending and the variance is smaller than a thresholdvariance.
 16. The aerial vehicle of claim 11, wherein the aerial vehicleis an unmanned aerial vehicle (UAV).
 17. The aerial vehicle of claim 11,wherein the flight controller is further configured to: determine, inresponse to the aerial vehicle having landed, whether the propulsionoutput of the aerial vehicle is enabled and whether an automatictake-off operation indicated by an automatic take-off instruction isperformed; and shut down the propulsion output of the aerial vehicle inresponse to the propulsion output being enabled and the automatictake-off operation not being performed.
 18. The aerial vehicle of claim11, wherein the flight controller is further configured to: detect aposition of a throttle joystick of a remote controller of the aerialvehicle in response to a number of times that the aerial vehicle isdetected as having landed is greater than a preset threshold; and shutdown the propulsion output of the aerial vehicle in response to thethrottle joystick of the remote controller being at a lowest positionwhere the aerial vehicle is requested to land.
 19. The aerial vehicle ofclaim 11, wherein the flight controller is further configured to send apower off instruction to a propulsion component of the aerial vehicle,and the propulsion component is configured to shut down the propulsionoutput in response to the power off instruction.
 20. The aerial vehicleof claim 11, further comprising: a power supply; wherein the flightcontroller is further configured to send a turning off instruction tothe power supply, and the power supply is configured to shut downpowering to a propulsion component of the aerial vehicle.